Publication

Hanyang University HumanRobotics Lab

International Conference
Design and implementation of a behavior-based control and learning architecture for mobile robots
Conference
IEEE International Conference on Robotics and Automation
Author
I. H. Suh, S. Lee, B. O. Kim, B. -J. Yi, and S. R. Oh
Year
2003
Date
2003.09.14
File
[2003]Design and Implementation of a Behaviour-Based Control and Learning Architecture for Mobile Robots.pdf (454.5K) 0회 다운로드 DATE : 2020-10-17 21:07:50
A behavior-based control and learning architecture is proposed, where reinforcement learning is applied to learn proper associations between stimulus and response by using two types of memory called as short Term Memory and Long Term Memory. In particular, to cope with delayed-reward problem, a knowledge-propagation (KP) method is proposed, where well-designed or well-trained S-R(stimulus-response) associations for low-level sensors are utilized to learn new S-R associations for high-level sensors, in case that those S-R associations require same objective such as obstacle avoidance. To show the validity of our proposed KP method, comparative experiments are performed for the cases that:(1) only a delayed reward is used, (2) some of S-R pairs are preprogrammed, (3) immediate reward is possible, and (4) our KP method is applied.